CN114165580B

CN114165580B - Gear shifting method and device of AMT gearbox, storage medium and terminal

Info

Publication number: CN114165580B
Application number: CN202111300931.XA
Authority: CN
Inventors: 赵国强; 乔运乾
Original assignee: Weichai Power Co Ltd; Weifang Weichai Power Technology Co Ltd
Current assignee: Weichai Power Co Ltd; Weifang Weichai Power Technology Co Ltd
Priority date: 2021-11-04
Filing date: 2021-11-04
Publication date: 2023-06-23
Anticipated expiration: 2041-11-04
Also published as: CN114165580A

Abstract

The invention discloses a gear shifting method, a gear shifting device, a storage medium and a terminal of an AMT gearbox, wherein the method comprises the following steps: acquiring target displacement of a gear shifting finger in an AMT gear shifting executing mechanism in a preset time period; calculating a current acceleration based on the target displacement; and controlling the corresponding states of the opposite solenoid valve of the current gear and the gear engaging solenoid valve to be engaged with the gear according to the current acceleration, so that the gear of the AMT gearbox is engaged with the gear to be engaged. Because the acceleration is calculated through the displacement of the gear shifting finger in the preset time period, and the states corresponding to the opposite solenoid valve of the current gear and the gear-in solenoid valve to be engaged in the gear are coordinated and controlled through the monitoring acceleration, the actions of the two gear-in solenoid valves are coordinated, the purposes of reducing or even eliminating impact and sound are achieved, and the driving comfort of a user during gear shifting is improved.

Description

Gear shifting method and device of AMT gearbox, storage medium and terminal

Technical Field

The invention relates to the technical field of automobile control, in particular to a gear shifting method and device of an AMT gearbox, a storage medium and a terminal.

Background

An electronic control mechanical automatic transmission (AMT) is an electromechanical-hydraulic integrated automatic transmission which integrates the advantages of an AT (automatic) gearbox and an MT (manual) gearbox, and the AMT not only has the advantages of automatic speed change of a hydraulic automatic transmission, but also maintains the advantages of high efficiency, low cost, simple structure and easy manufacture of the gear transmission of the original manual transmission.

In the prior art, the AMT gear shifting actuating mechanism can be considered to be successful in gear shifting after the gear shifting is carried out, and the electromagnetic valve is closed at the moment.

Disclosure of Invention

The embodiment of the application provides a gear shifting method and device of an AMT gearbox, a storage medium and a terminal. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

In a first aspect, an embodiment of the present application provides a gear shifting method of an AMT gearbox, where the method includes:

acquiring target displacement of a gear shifting finger in an AMT gear shifting executing mechanism in a preset time period;

calculating a current acceleration based on the target displacement;

and controlling the corresponding states of the opposite solenoid valve of the current gear and the gear engaging solenoid valve to be engaged with the gear according to the current acceleration, so that the gear of the AMT gearbox is engaged with the gear to be engaged.

Optionally, calculating the current acceleration based on the target displacement includes:

determining the ratio of the target displacement to the duration of a preset time period as the current speed;

the current acceleration is calculated from the current speed.

Optionally, controlling the state corresponding to the opposite solenoid valve of the current gear and the shift solenoid valve to be shifted into the gear according to the current acceleration includes:

and when the current acceleration is smaller than or equal to the preset acceleration limit value, opening the opposite electromagnetic valve of the current gear for a preset first number step length, closing the opposite electromagnetic valve, and keeping opening the gear-in electromagnetic valve to be engaged in the gear.

when the current acceleration is larger than the preset acceleration limit value, opening the opposite electromagnetic valve of the current gear for the preset second number step length of time, closing the gear-in electromagnetic valve to be engaged in the gear;

wherein the preset second number is greater than the preset first number.

Optionally, after the gear of the AMT gearbox is shifted to the gear to be shifted, the method further includes:

and closing the gear-engaging electromagnetic valve to be engaged in the gear.

Optionally, before obtaining the target displacement of the shift finger in the AMT shift actuator in the preset time period, the method further includes:

removing torque from the engine and disengaging the clutch of the engine;

gear shifting is carried out on the AMT gearbox;

the current rotational speed of the engine is adjusted.

Optionally, the gear shifting of the AMT gearbox includes:

determining a gear to be engaged, and opening a gear engaging electromagnetic valve to be engaged and a counter electromagnetic valve of the current gear after the countdown of the preset gear engaging time period is finished;

judging whether clamping stagnation occurs in the AMT gear shifting executing mechanism or not;

when the AMT gear shifting executing mechanism is blocked, closing a facing electromagnetic valve of the current gear, and maintaining a gear engaging electromagnetic valve to be engaged in the gear in an open state;

and acquiring first displacement of a gear shifting finger in the AMT gear shifting executing mechanism in real time, and controlling a facing electromagnetic valve of the current gear to shift based on the first displacement.

In a second aspect, an embodiment of the present application provides a gear shifting device of an AMT gearbox, where the gear shifting device includes:

the displacement acquisition module is used for acquiring target displacement of the gear shifting finger in the AMT gear shifting executing mechanism in a preset time period;

the acceleration calculation module is used for calculating the current acceleration based on the target displacement;

and the electromagnetic valve control module is used for controlling the state corresponding to the opposite electromagnetic valve of the current gear and the gear engaging electromagnetic valve to be engaged with the gear according to the current acceleration, so that the gear of the AMT gearbox is engaged with the gear to be engaged.

In a third aspect, embodiments of the present application provide a computer storage medium having stored thereon a plurality of instructions adapted to be loaded by a processor and to perform the above-described method steps.

In a fourth aspect, embodiments of the present application provide a terminal, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps described above.

The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:

in the embodiment of the application, a gear shifting device of an AMT gearbox firstly obtains target displacement of a gear shifting finger in a preset time period in the AMT gear shifting executing mechanism, then calculates current acceleration based on the target displacement, and finally controls states corresponding to a facing electromagnetic valve of a current gear and a gear engaging electromagnetic valve to be engaged according to the current acceleration, so that the gear of the AMT gearbox is engaged to the gear to be engaged. Because the acceleration is calculated through the displacement of the gear shifting finger in the preset time period, and the states corresponding to the opposite solenoid valve of the current gear and the gear-in solenoid valve to be engaged in the gear are coordinated and controlled through the monitoring acceleration, the actions of the two gear-in solenoid valves are coordinated, the purposes of reducing or even eliminating impact and sound are achieved, and the driving comfort of a user during gear shifting is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic flow chart of a gear shifting method of an AMT gearbox according to an embodiment of the application;

FIG. 2 is a process schematic diagram of an AMT gearbox shift process provided in an embodiment of the present application;

FIG. 3 is a gear selection and shifting action working schematic diagram of an AMT gearbox provided by the embodiment of the application;

FIG. 4 is a gear distribution diagram of an AMT gearbox provided in an embodiment of the present application;

FIG. 5 is a 2-and 3-speed shift diagram of an AMT gearbox provided in an embodiment of the present application;

fig. 6 is a schematic diagram of optimized control of a gear shifting solenoid valve in a gear shifting process according to an embodiment of the present application;

FIG. 7 is a schematic block diagram of a gear shift flow of an AMT gearbox provided in an embodiment of the present application;

fig. 8 is a schematic structural diagram of a gear shifting device of an AMT gearbox according to an embodiment of the application;

fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present application.

Detailed Description

The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.

It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention as detailed in the accompanying claims.

In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present invention, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

The application provides a gear shifting method, device, storage medium and terminal of an AMT gearbox, and aims to solve the problems existing in the related technical problems. In the technical scheme provided by the application, the acceleration is calculated through the displacement of the gear shifting finger in the preset time period, and the states corresponding to the opposite solenoid valve of the current gear and the gear-in solenoid valve to be engaged in the gear are coordinated and controlled through the monitoring acceleration, so that the actions of the two gear-in solenoid valves are coordinated, the purposes of reducing or even eliminating the impact and the sound are achieved, the driving comfort of a user during gear shifting is improved, and the following detailed description is given by adopting an exemplary embodiment.

The following describes in detail a gear shifting method of the AMT gearbox according to an embodiment of the present application with reference to fig. 1 to fig. 7. The method may be implemented in dependence on a computer program and may be run on a shift device of an AMT gearbox based on von neumann system. The computer program may be integrated in the application or may run as a stand-alone tool class application.

Referring to fig. 1, a schematic flow chart of a gear shifting method of an AMT gearbox is provided for an embodiment of the present application. As shown in fig. 1, the method of the embodiment of the present application may include the following steps:

s101, acquiring target displacement of a gear shifting finger in an AMT gear shifting executing mechanism in a preset time period;

the driving modes of the AMT gear shifting executing mechanism can be divided into electric mode, pneumatic mode, hydraulic mode and hybrid mode. The electric motor uses a small motor as a driving actuator. Pneumatic air pipes are used as driving actuators. The hydraulic type uses an oil cylinder as a driving actuator. Hybrid refers to the simultaneous use of the above power driven devices in the same AMT execution system. A shift refers to a component of an AMT shift actuator that is associated with a shift.

Generally, the gear shifting process of the AMT gearbox is shown in fig. 2, and the AMT gear shifting mainly includes four processes of torque clearing, gear shifting, speed regulation and gear shifting, taking 2 gear shifting up to 3 gear shifting as an example (without taking gear selection into consideration), two gear shifting electromagnetic valves act simultaneously in the gear shifting stage, the speed regulation stage is closed simultaneously, and the gear shifting electromagnetic valve E is opened in the gear shifting stage to be shifted into 3 gear shifting. The working principle diagram of the gear selecting and shifting action is shown in fig. 3, for example, the on-off state of the electromagnetic valve E, F determines whether each closed cavity in the cylinder is communicated with the atmosphere or communicated with a compressed air source, so that the piston rod of the cylinder is positioned at a target position. E can be regarded as a 3-gear electromagnetic valve, and when E is opened, 3 gears are hung; similarly, F is a 2-speed solenoid valve. The gear position distribution diagram of the AMT gearbox is shown in fig. 4, the x-axis direction is the gear selection direction, the gear selection valve is used for controlling the gear position, the y-axis direction is the gear shifting direction, and the gear position is engaged in the corresponding gear position through the combination of four valves.

In the embodiment of the application, before the target displacement of the gear shifting finger in the preset time period is obtained in the AMT gear shifting executing mechanism, the method further comprises the steps of removing torque of the engine, separating a clutch of the engine, then, performing gear shifting on the AMT gearbox, and finally, adjusting the current rotating speed of the engine.

Further, when the gear is shifted, in order to prevent the gear shift failure caused by the blocking lag, the gear shift can be controlled according to the following logic steps, firstly, the gear to be shifted is determined, after the countdown of the preset gear shift time period is finished, the gear shifting solenoid valve to be shifted and the opposite solenoid valve of the current gear are opened, then whether the AMT gear shifting executing mechanism is blocked is judged, secondly, when the AMT gear shifting executing mechanism is blocked, the opposite solenoid valve of the current gear is closed, the gear shifting solenoid valve to be shifted is maintained to be in an opened state, finally, the displacement of the gear shifting finger in the AMT gear shifting executing mechanism is obtained in real time, and the gear shift is controlled based on the displacement.

Specifically, when judging whether the AMT shift actuating mechanism has clamping stagnation, firstly acquiring displacement of a shift finger in the AMT shift actuating mechanism, then making a difference between the displacement and a displacement value of a plurality of pre-calibrated steps to generate a target difference, and finally determining that the AMT shift actuating mechanism has clamping stagnation when the target difference is smaller than or equal to a pre-calibrated clamping stagnation displacement judgment value; or when the target difference value is larger than a pre-calibrated clamping stagnation displacement judgment value, determining that the AMT gear shifting executing mechanism does not have clamping stagnation.

Because the AMT gear shifting actuating mechanism has the hysteresis, one electromagnetic valve is closed by the first time, the other electromagnetic valve is maintained in an open state, the gear shifting force is greatly increased by closing the single valve and opening the single valve simultaneously compared with the two valves, the gear shifting time is shortened, and the gear shifting success rate is improved.

In one possible implementation, after the end of the speed regulation, the gear shift stage is entered, and the target displacement of the gear shift finger in the AMT gear shift actuator in the preset time period is first acquired.

For example, as shown in fig. 5, for a 2-shift and a 3-shift, the solenoid valve E in fig. 2 is considered to be engaged in the gear at the lower edge of the 3-shift belt, and the solenoid valve E is closed at this time, and the shift finger continues to slide inward due to inertia, resulting in a shock and a sound.

S102, calculating current acceleration based on target displacement;

wherein the speed is numerically equal to the ratio of the displacement of the object motion to the time taken for this displacement to occur; the acceleration is the ratio of the amount of change in velocity to the time taken for this change to occur, Δv/Δt, which is a physical quantity describing how fast the velocity of the object changes, and is generally denoted by a.

In one possible implementation, when calculating the current acceleration, the ratio of the target displacement to the duration of the preset time period is first determined as the current speed, and then the current acceleration is calculated according to the current speed.

Specifically, the speed, i.e., the rate of change of position, is calculated: assuming that the position of the actuator at this time is pos1, and the position of the actuator after N1 (N1 can be calibrated) steps is pos2, the calculation formula of the position change rate is specifically: v=Δpos= (pos 2-pos 1)/N1 (1); wherein the displacement movement velocity is characterized, v=0 when stuck.

Similarly, the rate of change of the acceleration, i.e., the rate of change of position, can be obtained: a=Δv= (v 2-v 1)/N2 (2).

a represents the speed of movement, and this value is greater when the speed of movement is faster and smaller when the speed of movement is slower, and may represent the trend of movement, for example as shown in table 1.

TABLE 1

Table 1 shows the acceleration values (data statistics) of the various actuator shift positions under normal shifting, which have impact and sound, mainly from the shift stage to the positions of 8mm-10mm and 28mm-30mm in the table caused by excessive acceleration of the shift belt.

S103, controlling the corresponding states of the opposite solenoid valve of the current gear and the gear engaging solenoid valve to be engaged with the gear according to the current acceleration, so that the gear of the AMT gearbox is engaged with the gear to be engaged.

In one possible implementation, when the current acceleration is less than or equal to the preset acceleration limit, the opposing solenoid valve of the current gear is opened for a preset first number of steps, then closed, and the shift solenoid valve to be shifted in is kept open.

In another possible implementation, when the current acceleration is greater than the preset acceleration limit, the opposite solenoid valve of the current gear is turned on for a preset second number of steps, then turned off, and the shift solenoid valve to be shifted is turned off; wherein the preset second number is greater than the preset first number.

Further, the shift solenoid valve to be shifted is closed.

For example, as shown in fig. 6, fig. 6 is a schematic diagram of an optimized control of a shifting solenoid valve during a shifting process, in which two solenoid control modes are divided in a gear stage according to an acceleration generating impact and sound:

when the acceleration is small, the opposite valve of the current gear is directly opened to back N steps, wherein the calibration value of N is shown in Table 2.

And when the acceleration is large, opening the opposite valve of the current gear to retract for N step sizes, and closing the solenoid valve corresponding to the gear to be engaged, wherein the calibration step sizes are shown in Table 2.

TABLE 2

Table 2 shows that the opposite valve F is opened by the step MAP according to the position and the acceleration when the gear is 2 to 3, N is 1 when the acceleration is small, N is 2 when the acceleration is large, and the in-gear solenoid valve is simultaneously closed at the moment, so that calibration can be carried out according to the actual situation. The same applies when other gears are engaged.

For example, as shown in fig. 7, fig. 7 is a schematic block diagram of a specific shift flow provided in the present application, where the shift state is used to determine, if in the shift stage, the actual displacement is used to calculate the displacement speed and the acceleration, and when the acceleration is smaller than the limit value, the opposite valve acts by N steps, and when the acceleration is greater than the limit value, the opposite valve acts by N steps, and the shift valve is kept open, and after the shift is successful, the shift flow is ended.

It should be noted that, this application judges solenoid valve action according to the acceleration of shift displacement, two solenoid valves of shifting of coordinated control according to acceleration size, and the solenoid valve of shifting is closed when big acceleration, and the solenoid valve of shifting keeps opening N step sizes to the valve, and the solenoid valve of shifting keeps opening when little acceleration, and N step sizes are opened to the solenoid valve, and this kind of method can guarantee to shift the success rate, can promote the travelling comfort again.

The following are examples of the apparatus of the present invention that may be used to perform the method embodiments of the present invention. For details not disclosed in the embodiments of the apparatus of the present invention, please refer to the embodiments of the method of the present invention.

Referring to fig. 8, a schematic structural diagram of a gear shifting device of an AMT gearbox according to an exemplary embodiment of the invention is shown. The gear shifting device of the AMT gearbox may be implemented as all or part of the terminal by software, hardware or a combination of both. The device 1 comprises a displacement acquisition module 10, an acceleration calculation module 20 and a solenoid valve control module 30.

The displacement acquisition module 10 is used for acquiring target displacement of a gear shifting finger in the AMT gear shifting executing mechanism in a preset time period;

an acceleration calculation module 20 for calculating a current acceleration based on the target displacement;

the electromagnetic valve control module 30 is used for controlling the corresponding states of the opposite electromagnetic valve of the current gear and the gear-in electromagnetic valve to be engaged in the gear according to the current acceleration, so that the gear of the AMT gearbox is engaged in the gear to be engaged in the gear.

It should be noted that, when the gear shifting device of the AMT gearbox provided in the foregoing embodiment performs the gear shifting method of the AMT gearbox, only the division of the foregoing functional modules is used as an example, in practical application, the foregoing functional allocation may be completed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the gear shifting device of the AMT gearbox provided in the above embodiment belongs to the same concept as the gear shifting method embodiment of the AMT gearbox, which embodies the detailed implementation process and is not described herein.

The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.

The invention also provides a computer readable medium, on which program instructions are stored, which when executed by a processor implement the gear shifting method of the AMT gearbox provided by the above method embodiments.

The invention also provides a computer program product containing instructions which, when run on a computer, cause the computer to perform the method of shifting an AMT gearbox of the respective method embodiments described above.

Referring to fig. 9, a schematic structural diagram of a terminal is provided in an embodiment of the present application. As shown in fig. 9, terminal 1000 can include: at least one processor 1001, at least one network interface 1004, a user interface 1003, a memory 1005, at least one communication bus 1002.

Wherein the communication bus 1002 is used to enable connected communication between these components.

The user interface 1003 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 1003 may further include a standard wired interface and a wireless interface.

The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.

Wherein the processor 1001 may include one or more processing cores. The processor 1001 connects various parts within the entire electronic device 1000 using various interfaces and lines, and performs various functions of the electronic device 1000 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 1005, and invoking data stored in the memory 1005. Alternatively, the processor 1001 may be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 1001 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 1001 and may be implemented by a single chip.

The Memory 1005 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). The memory 1005 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 1005 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described respective method embodiments, etc.; the storage data area may store data or the like referred to in the above respective method embodiments. The memory 1005 may also optionally be at least one storage device located remotely from the processor 1001. As shown in fig. 9, an operating system, a network communication module, a user interface module, and a gear shifting application of the AMT gearbox may be included in the memory 1005 as one type of computer storage medium.

In the terminal 1000 shown in fig. 9, the user interface 1003 is mainly used for providing an input interface for a user, and acquiring data input by the user; while the processor 1001 may be used to invoke the gear shifting application of the AMT gearbox stored in the memory 1005 and specifically:

calculating a current acceleration based on the target displacement;

In one embodiment, the processor 1001, when performing the calculation of the current acceleration based on the target displacement, specifically performs the following operations:

the current acceleration is calculated from the current speed.

In one embodiment, the processor 1001, when executing the states corresponding to the facing solenoid valve controlling the current gear according to the current acceleration and the shift solenoid valve to be shifted into the gear, specifically executes the following operations:

wherein the preset second number is greater than the preset first number.

In one embodiment, the processor 1001, prior to executing the acquiring the target displacement of the shift finger in the AMT shift actuator for the preset time period, further performs the following operations:

removing torque from the engine and disengaging the clutch of the engine;

gear shifting is carried out on the AMT gearbox;

the current rotational speed of the engine is adjusted.

In one embodiment, the processor 1001, when executing an off-shift of the AMT gearbox, specifically performs the following operations:

Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by computer programs to instruct the associated hardware, and that the program for gear shifting of an AMT gearbox may be stored in a computer readable storage medium, which when executed may include the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory, a random access memory, or the like.

The foregoing disclosure is only illustrative of the preferred embodiments of the present application and is not intended to limit the scope of the claims herein, as the equivalent of the claims herein shall be construed to fall within the scope of the claims herein.

Claims

1. A method of shifting an AMT gearbox, the method comprising:

the method for acquiring the target displacement of the gear shifting finger in the AMT gear shifting executing mechanism in the preset time period further comprises the following steps:

removing torque from the engine and disengaging the clutch of the engine;

gear shifting is carried out on the AMT gearbox;

adjusting the current rotation speed of the engine; wherein,,

the gear shifting of the AMT gearbox is carried out, and the gear shifting device comprises:

determining a gear to be engaged, and opening a gear engaging electromagnetic valve to be engaged and a counter electromagnetic valve of the current gear after the countdown of the preset gear disengaging time period is finished;

when the AMT gear shifting executing mechanism is blocked, closing a facing electromagnetic valve of the current gear, and maintaining the gear engaging electromagnetic valve to be engaged in the gear in an open state;

acquiring a first displacement of a gear shifting finger in the AMT gear shifting executing mechanism in real time, and controlling a facing electromagnetic valve of the current gear to shift off based on the first displacement;

wherein, judging whether the AMT shift actuating mechanism has clamping stagnation or not includes:

obtaining displacement of a gear shifting finger in an AMT gear shifting executing mechanism, making a difference between the displacement and displacement values of a plurality of steps calibrated in advance, generating a target difference, and determining that the AMT gear shifting executing mechanism is jammed when the target difference is smaller than or equal to a jamming displacement judgment value calibrated in advance; or when the target difference value is larger than a pre-calibrated clamping stagnation displacement judgment value, determining that the AMT gear shifting executing mechanism does not have clamping stagnation;

calculating a current acceleration based on the target displacement;

controlling the corresponding states of a facing electromagnetic valve of the current gear and a gear engaging electromagnetic valve to be engaged with the gear according to the current acceleration, so that the gear of the AMT gearbox is engaged with the gear to be engaged; wherein,,

the state corresponding to the opposite solenoid valve for controlling the current gear and the gear-in solenoid valve to be engaged with the gear according to the current acceleration comprises:

when the current acceleration is smaller than or equal to a preset acceleration limit value, opening a facing electromagnetic valve of the current gear for a preset first number step length, closing the facing electromagnetic valve, and keeping opening a gear-in electromagnetic valve to be engaged in the gear;

when the current acceleration is larger than a preset acceleration limit value, opening a facing electromagnetic valve of the current gear for a preset second number step length, closing the facing electromagnetic valve, and closing a gear-in electromagnetic valve to be engaged in the gear;

wherein the preset second number is greater than the preset first number.

2. The method of claim 1, wherein the calculating the current acceleration based on the target displacement comprises:

determining the ratio of the target displacement to the duration of the preset time period as the current speed;

and calculating the current acceleration according to the current speed.

3. The method of claim 1, wherein after the engaging the gear of the AMT gearbox to the to-be-engaged gear, further comprising:

and closing the gear-shifting electromagnetic valve to be shifted.

4. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method of any of claims 1-3.

5. A terminal, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method according to any of claims 1-3.